Visual Frontend Integrity Enhancement and Error Modeling with Integrated Motion Constraints and RANSAC
Satellite/inertial/visual integrated navigation has gradually been becoming the mainstream navigation solution in intelligent transportation applications.To ensure navigation safety,it is necessary to realize integrity monitoring of this type of multi-sensor integrated navigation system.To achieve this goal,an outlier rejection method is proposed for visual measurements based on the motion constraint,which is combined with the Random Sample Consensus(RANSAC)method to further reduce the outlier rate.Finally,The error model for the visual measurements is established by employing the error overbounding technique.Experimental results suggest that the proposed method can significantly reduce the error standard deviation of visual feature points,which is about 70%lower than using RANSAC method alone.More importantly,the method combining motion constraints with the RANSAC method can make the error model insensitive to the scene.The research is of great significance for enhancing the integrity of multi-source navigation through visual participation.
万方数据
维普
